A Review on Quadruped Manipulators

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2023

Autores

Lopes, MS (Autor) Outra; António Paulo Moreira (Autor) FEUP; Silva, MF (Autor) Outra; Filipe Neves Santos (Autor) FEUP

Ata de Conferência Internacional

Título: PROGRESS IN ARTIFICIAL INTELLIGENCE, EPIA 2023, PT I

Páginas: 199-211

22nd EPIA Conference on Artificial Intelligence (EPIA)

Azores, PORTUGAL, SEP 05-08, 2023

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 1 Citação

Outras Informações

ID Authenticus: P-00Z-JXP

DOI: 10.1007/978-3-031-49008-8_16

Abstract (EN): Quadruped robots are gaining attention in the research community because of their superior mobility and versatility in a wide range of applications. However, they are restricted to procedures that do not need precise object interaction. With the addition of a robotic arm, they can overcome these drawbacks and be used in a new set of tasks. Combining a legged robot's dextrous movement with a robotic arm's maneuverability allows the emergence of a highly flexible system, but with the disadvantage of higher complexity of motion planning and control methods. This paper gives an overview of the existing quadruped systems capable of manipulation, with a particular interest in systems with high movement flexibility. The main topics discussed are the motion planning approaches and the selected kinematic configuration. This review concludes that the most followed research path is to add a robotic arm on the quadrupedal base and that the motion planning approach used depends on the desired application. For simple tasks, the arm can be seen as an independent system, which is simpler to implement. For more complex jobs the coupling effects between the arm and quadruped robot must be considered.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13